CN114391109A - 使用不同的传感器信息确定物体位置的方法 - Google Patents

使用不同的传感器信息确定物体位置的方法 Download PDF

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Publication number
CN114391109A
CN114391109A CN202080063042.3A CN202080063042A CN114391109A CN 114391109 A CN114391109 A CN 114391109A CN 202080063042 A CN202080063042 A CN 202080063042A CN 114391109 A CN114391109 A CN 114391109A
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CN
China
Prior art keywords
probability
kalman filter
sensor information
error
estimating
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080063042.3A
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English (en)
Chinese (zh)
Inventor
D·普夫吕格尔
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of CN114391109A publication Critical patent/CN114391109A/zh
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/20—Integrity monitoring, fault detection or fault isolation of space segment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0294—Trajectory determination or predictive filtering, e.g. target tracking or Kalman filtering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Security & Cryptography (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
CN202080063042.3A 2019-09-12 2020-08-13 使用不同的传感器信息确定物体位置的方法 Pending CN114391109A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102019213916.7 2019-09-12
DE102019213916.7A DE102019213916A1 (de) 2019-09-12 2019-09-12 Verfahren zur Bestimmung einer Objektposition unter Verwendung verschiedener Sensorinformationen
PCT/EP2020/072804 WO2021047856A1 (fr) 2019-09-12 2020-08-13 Procédé de détermination de position d'un objet à l'aide de différents éléments d'informations de capteur

Publications (1)

Publication Number Publication Date
CN114391109A true CN114391109A (zh) 2022-04-22

Family

ID=72139595

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080063042.3A Pending CN114391109A (zh) 2019-09-12 2020-08-13 使用不同的传感器信息确定物体位置的方法

Country Status (4)

Country Link
US (1) US20220289220A1 (fr)
CN (1) CN114391109A (fr)
DE (1) DE102019213916A1 (fr)
WO (1) WO2021047856A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023242178A1 (fr) * 2022-06-13 2023-12-21 Mercedes-Benz Group AG Évaluation du temps de convergence et du réglage sur la base de l'évaluation du temps de convergence
DE102022207090A1 (de) * 2022-07-12 2024-01-18 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Ermitteln eines Integritätsbereichs einer Parameterschätzung für eine Lokalisierung eines Fahrzeugs

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3418081A1 (de) * 1984-05-16 1985-11-21 Teldix Gmbh, 6900 Heidelberg Ortungsverfahren fuer fahrzeuge, insbesondere fuer landfahrzeuge
US9927806B2 (en) * 2013-01-03 2018-03-27 The United States Of America As Represented By The Secretary Of The Army Estimation algorithm for discrete-time uncertain stochastic systems and device relating thereto
US11880188B2 (en) * 2018-03-12 2024-01-23 Virginia Tech Intellectual Properties, Inc. Intelligent distribution of data for robotic and autonomous systems
US11124196B2 (en) * 2019-07-02 2021-09-21 Mitsubishi Electric Research Laboratories, Inc. Receding horizon state estimator
US11704946B2 (en) * 2019-07-09 2023-07-18 Arizona Board Of Regents On Behalf Of Arizona State University Bounded-error estimator design with missing data patterns via state augmentation

Also Published As

Publication number Publication date
US20220289220A1 (en) 2022-09-15
WO2021047856A1 (fr) 2021-03-18
DE102019213916A1 (de) 2021-03-18

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